Comments (3)
Unfortunately, the mujoco
library does not appear to have a utility function for easily printing the composition of various state components
qpos
& qvel
import gymnasium
env = gymnasium.make("Humanoid-v5", xml_file=$YOUR_FILE$)
env.reset()
)
qpos_list = []
qvel_list = []
for j_id in range(env.unwrapped.model.njnt):
for _ in range(env.unwrapped.data.joint(j_id).qpos.size):
qpos_list.append(env.unwrapped.data.joint(j_id).name)
for _ in range(env.unwrapped.data.joint(j_id).qvel.size):
qvel_list.append(env.unwrapped.data.joint(j_id).name)
print(qpos_list)
print(qvel_list)
Bodies
body_list = []
for body_id in range(env.unwrapped.model.nbody):
body_list.append(env.unwrapped.model.body(body_id).name)
print(body_list)
Hope this helps
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Thank you for the reply @Kallinteris-Andreas
from gymnasium.
Largely understood.
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